DE1260098B - Remote control - Google Patents

Description

FEDERAL REPUBLIC OF GERMANY

GERMAN

PATENT OFFICE

EDITORIAL

Int. CL:

B 66c

B 25 j

German class: 35 b-6/25

Number:
File number:
Registration date:
Display day:

1260 098
P33155XI / 35b
December 9, 1963
1st February 1968

The invention relates to a remote control with a detachably mounted on an arm member Hand member having a pair of movable gripping members.

Remote handling is used to a large extent when working in areas where there is a risk of explosion or radiation Used for broaching and working underwater. The function of every remote control depends in part on the maneuverability and also the adaptability of the hand ίο used separate it from the facility.

A remote control with a hand member is already known, the gripping members of which by means of a drive and transmission device can be opened and closed. It is in the transmission device a clutch arranged via which the driving force for the adjustment of the gripping members is transferred to this. The one coupling part is together with the drive device on the arm member stored, and the other coupling part is mounted on the hand member and together with this can be separated from the first-mentioned coupling member in the axial direction when the hand member is released from the arm member. The coupling consists of one Pair of hooks, and the coupling is released by releasing the hooks. It is disadvantageous that the hand member can only be removed from the arm member in the fully open position of the gripping members. As a result, the gripping tool must release the gripped object before removing the hand member. This makes the separation process time-consuming and cumbersome.

The object of the invention is to enable the hand member to be removed quickly and easily, without the clamping of the object in the gripping members being released.

According to the invention, the coupling is made of two separable from one another in the axial direction, rotating coupling parts formed existing torque coupling, and on the hand member arranged parts of the transmission device are designed to be self-locking for the gripping members, such that when removing the hand member the GreifgÜeder remain in the respective position.

The fact that of the two coupling parts of the torque coupling is one on the arm member the remote control and the other on the hand member, together with this removable, stored is the separation of the coupling and thus the removal of the hand member in every position of the Gripping members ensured without the fear of dropping a held object.

Remote control

Applicant:

Programmed & Romote Systems Corporation,

St. Paul, Minn. (V. St. A.)

Representative:

Dipl.-Ing. W. Cohausz,

Dipl.-Ing. W. Florack

and Dipl.-Ing. K.-H. Eissei, patent attorneys,

4000 Düsseldorf, Schumannstr. 97

Named as inventor:
Karl Edwin Neumeier,
Stillwater, Minn. (V. St. A.)

Claimed priority:
V. St. v. America December 12, 1962
(244 248)

The parts of the transmission device arranged in the hand member can consist of a screw or Spindle and a gear nut cooperating with it exist. Preferably that works the spindle and the gear nut existing gears via parallelogram levers on the gripping links, that their gripping surfaces remain parallel to each other over the entire adjustment path.

As a torque clutch, a remote controlled clutch, e.g. B. an electromagnetic Clutch, can be used. The clutch remote control can be designed such that the over the electromagnetic clutch transferable torque by means of the remote control to different Values is adjustable. This is especially important when different items are being used of a workflow should be treated with the same tool and the sensitivity of the tool must be adapted to the various purposes and replacements.

In the drawing, an embodiment of a remote control according to the invention is shown.

F i g. 1 shows the lower part of an arm part of a remote control with a hand part;

F i g. 2 shows a partially broken away side view a locking device to hold the hand

709 747/92

i 260 098

- 3 4

member on the arm member in the unlocked position with transferred. The clutch disc 178 and the parts on average; speaking surface of the clutch hub 171 are F i g. Figure 3 shows an end view of the hand and arm starting to slide towards each other when a forward limb of Fig. 1; a certain torque is reached. The electric F i g. 4 shows an enlarged view of parts S current is the clutch coil through a line according to FIG. 3; 176 supplied.

F i g. 5 shows a side view of an exchange The magnetic field is determined by its intensity

Bracket with an actuation of a rotary switch not shown in FIG hand joint. Connection with a potentiometer, where-

In Fig. 1 shows the lower part 98 with an outer io by turning the switch of the current flow through the housing 96 of an arm member of a remote control, the coil and thus the transmittable torque, which can be controlled above the parting plane AA.

known way continues. The arm link forms the A drive hub 179 is rotationally locked with the

lowest link of a remote control, which consists of several clutch discs 178 and a gear nut 180 articulated interconnected, partially extendable 15, which are rotatable in corresponding bearings bar and rotatable parts. Sitting together 181 a hand support 182, which is detachable with hang with the storage of the remote control in its the hand-held housing 141 in connection. The work area is the remote control within a The gear nut 180 is seated with a thread

limited working space movable. All of them have a spindle which actuates the gripping members 202, 203 Movements are made by an outside of the working 20 183, which has a head part 184 at its outer end electrically controlled. Has.

In the lower part 98 of the arm link there is an output shaft 170 of the gripper motor

If hand link 95 is used, to which all parts belong, 165 rotates in one of the directions of rotation of a double which rotates away from the lower part 98 of the arm link 185, the spindle 183 moves in a remote manner. The hand member 95 comprises 25 of the axial directions of a further double arrow gripping members 202, 203 and one acting on these 186. The head part 184 then moves with the gripper motor 165. Spindle 183. In the head part 184 are a pair

Inside the arm link a housing 122 pivot 190 is rotatable and on opposite one another arranged, the axially displaceable sides mounted protruding in the arm member. Each of these cones and is sealed by an O-ring 124. The 30 190 has a flattened part that slides in A spindle 112, a slot 191 of a first or second, the gripping and a spindle nut, not shown, with members 202, 203 actuating drive bracket 192 and the housing 122 is connected so that engages at a 193.

Movement of the spindle nut on the spindle 112 that the first or front drive bracket 192 is pivotable

Housing 122 a corresponding axial displacement 35 bar mounted on a pin 194, which is experienced. The spindle 112 is rotatable in the arm member in a bearing 113 below and a not shown 182 through a pair of eye lugs 195 of the hand support. The other drive bracket 193 is arranged in entLager above the parting plane AA . speaking way on a peg 196 in eye

Inside the housing 122 is a hand-held housing lugs 197 that are in alignment with the eye lugs 141 arranged, which are attached to the non-illustrated drive 40 195.

and gear devices for rotating the hand- The drive yokes 192 and 193 are fork-like

member 95 is connected. The hand housing 141 is formed so that the arms of each drive yoke 192, 193 are tubular and rotatable relative to the housing 122 in the head part 184. Outer ends 200 and bearings 147 supported. The bearings 147 hold the hand 201 of the drive yokes 192 and 193 are also enthousing 141 and are seated in support rings 150, 45 in the form of a fork. On this

In the hand-held housing 141, the gripper motor 165 is fork ends through pins 204 and 205 first and second gripping members 202 and 203 can be pivoted fixedly on a bracket 166 by means of machine screws 167 attached. The gripper motor 165 has one attached.

driven output shaft 170, on which a coupling Each of the gripping members 202 and 203 has further

Lungsnabe 171 rotatably in a groove guide 50 a second drive bracket 206 and 207. The drive is seated. The coupling hub 171 is part of an elec- tric bracket 206 is pivotable with a pin 210 on tromagnetic clutch 172. The end face of the first gripping member 202 and with a pin 211 Coupling hub 171 forms one of the coupling between the eye lugs 195, slices. The electromagnetic clutch 172 to the drive bracket 207 is in the same way with a

holds a bobbin case 173, which is fixed to a pin 212 with the second gripping member 203 and with Hand receptacle 174, which is the front part of a pin 213 with the eye attachments 197 ver-hand housing 141 forms, is attached. bound.

The hand holder 174 is secured by screws 175 The drive bracket 206, 207 hold each of the gripping

attached to the hand-held housing 141. The limbs 202, 203 in relation to the base of the eyes recording 174 and the hand-held housing 141 rotate 60 195 and 197 in parallel. When the headboard 184 is together. moved up and down in the direction of double arrow 186,

A clutch disc 178 forms the drive part, the gripping members 202, 203 are accordingly geder electromagnetic clutch 172nd spreads or closed. The closing surfaces 214 of the

As an electromagnetic clutch 172, a gripping member 202, 203 can thereby remain above the standard Execution are used. The 63 working area of the gripping members 202, 203 parallel to electromagnetic Coupling 172 should be a desired one.

tes torque by adjusting the magnetic To a longitudinal displacement of the gripping members 202,

To reduce the field between the clutch disks 171, 178, 203, the pivot points are located

the drive bracket 192, 193, 206, 207 in the eye attachments 195 and 197 approximately in the middle plane of their path.

A flexible seal or membrane 215 is attached to the head portion 184.

A ring 220 is firmly attached to the hand support 182 and is secured by a pin 221. The ring 220 is provided with a plurality of ball socket-like recesses 222 , which are arranged in a ring shape on its outer circumferential surface (see FIG. 2). The ring 220 fits into the central opening of the hand receptacle 174. The hand receptacle 174 has three radially extending openings 223 which are also arranged in a ring.

In each of the openings 223 a loose ball 224 is freely rotatable and inserted with limited mobility.

When the hand support 182 is seated on the hand receptacle 174 in its operating position, the balls 224 partially engage in three of the recesses 222 .

A sleeve 225 is slidably seated on the hand support 182 for reaching over the hand receptacle 174 as a locking part for the balls 224.

The sleeve 225 can now be moved into a position in which its inner surface 219 holds the balls 224 partly in the recesses 222 and partly in the openings 223.

Axial movement of the hand support 182 to the hand support 174 is thus blocked, and the hand support 182 can be rotated and moved with the hand support 174. The sleeve 225 and the hand support 182 are pressed apart by springs 226 , specifically into the position in which the sleeve 225 covers the balls 224 or the openings 223.

When the sleeve 225 is moved in the direction of a in FIG. 1 entered arrow 229 it comes into a position in which a step 230 of the sleeve 225 is located in front of the balls 224 . The step 230 is spaced from the front of the hand support 174, and once the surface of the step 230 is in front of the balls 224 there is room for the balls 224 to move radially outward in the openings 223 to a position in which the recesses 222 are free. The ring 220 can then slide over the balls 224 and the entire hand member 95 can be removed from the hand receptacle 174 . The clutch disk 178 is pulled off the clutch hub 171 when the hand member 95 is removed. The setting of the gripping members 202, 203 is not impaired when the hand member 95 is removed.

A pin 231 is attached to the hand support 182 and extends and moves in a slot 232 of the sleeve 225. The pin 231 abuts the delimiting edge of the slot 232 and prevents the sleeve 225 from being pulled off the hand support 182 when the hand member 95 is removed from the arm member. The slot 232 is long enough so that the sleeve 225 can be moved into the corresponding position with the step 230 in front of the ball 224 . When the hand member 95 is to be placed on the arm member again, the hand receptacle 174 is inserted into the sleeve 225. The balls 224 meet a guide surface 233 which connects the peripheral surfaces 219 and 230 . As shown in FIG. 2, as a result of the rounded edge, the hand receptacle 174 can easily be pushed over the ring 220 and displaced within the sleeve 225. The balls 224 hit the guide surface 233. With a further movement of the ring 220 or the hand receptacle 174 against each other, the balls 224 will move the sleeve 225 against the force of the springs 226 until the balls 224 and the recesses 222 come into alignment. Once the recesses 222 are in line

ίο come with the balls 224 , the balls 224 will move under the action of the guide surface 233 into one of the recesses 222 provided close to one another in the form of a ring.
When the balls 224 are pressed into the recesses 222 , the sleeve 225 snaps into the position in which its inner surface 219 covers the balls 224 and the hand member 95 locks on the hand receptacle 174 with a certain relaxation of the springs 226 .

It should be noted that the guide surface 233 causes the balls 224 to move axially inward. The recesses 222 are arranged close together. In all rotational positions relative to one another between the ring 220 and the hand receptacle 174 , the balls 224 will always at least partially overlap with a recess 222. Under the pressure of the guide surface 233 , the balls 224 tend to penetrate into a just fitting recess 222, twisting the hand receptacle 174 so that they match perfectly. This makes the replacement of the hand links 95 very easy. Since a recess 222 is made approximately 10 ° on the circumference of the ring 220 , this enables the balls 224 to penetrate into the recesses 222 without difficulty, as may the rotational position of the hand member 95 and the arm member relative to one another. The arm member can be easily rotated to match the balls 224 with a recess 222 for proper seating.

The design of the gripping members 202, 203 and of the gripper drive is such that the gripping members 202, 203 cannot pivot in the dismantled state. If any object is gripped by the gripping members 202, 203, their position cannot be changed unless the gripper motor 165 is actuated accordingly.

From FIG. 1 and in particular FIG. 4 it can be seen that the lower or front portion of the arm link has a protruding portion 240 for receiving the spindle 112 . An end plate 241 is attached to the end of the spindle 112.

The outer housing 96 (FIG. 3) of the lower part 79 of the arm link also carries an additional power connection 242 which can be used for other remote-controlled devices. Power connector 242 receives power via an auxiliary cable.

In Fig. 5 shows a holder for a removed hand member 95 . The holder consists of a rectangularly shaped box 250 with a U-shaped cutout 251 on an end wall for receiving the sleeve 225.

A pair of guide parts 252 are spaced apart transversely to one another, starting from the opposite end wall in the interior of the box 250.

The U-shaped cutout 251 is suitable for receiving the outer circumference of the sleeve 225. The guide parts 252 are spaced apart such that they hold the end parts of the gripping members 202 and 203.

can take and hold. These guide parts 252 in the box 250 are of sufficient length so that the gripping members 202, 203 can also be held therebetween when they are in a open position are at a distance from each other. The bracket is fixed to any solid base mounted within the working area of the remote control.

When the hand member 95 is to be replaced, it is placed in box 250, as shown in FIG. 5 indicated is inserted such that a collar 253 arranged on the sleeve 225 is in the box 250 and the gripping members 202, 203 are located between the guides 252. The limb is drawn in or axially rearward away from the box 250. The U-shaped cutout 251 lies against the collar 253 of the sleeve 225, so that with a further movement of the arm member away from the holder the sleeve 225 is held while the ring 220 advances with the arm member. The ring 220 and the hand support 174 are displaced towards one another until the balls 224 are in agreement come with the gradation 230. This allows the balls 224 to emerge from the recesses 222 to move out, and the hand member 95 is separated from the hand receptacle 174.

After removing the hand member 95, other tools can be placed on the arm member. For example, a hook is used in place of the gripping members 202, 203 as an interchangeable tool used when very heavy loads are to be lifted or when other operations require a hook. Albeit parallel displaceable gripping members 202, 203 in the description are mentioned, so can hooks, pliers and other devices with the hand member 95 for special Operations are used.

When the hand member 95 is to be reinserted, the remote handle is moved so that the The arm member is essentially in axial coincidence with the hand member 95. The limb or the hand support 174 is moved into the circumference of the sleeve 225, as shown in FIG. 2 can be seen is. The arm link then continues to be pushed into the sleeve 225.

The hand receptacle 174 slides over the ring 220. and the balls 224 are inside against the Guide surface 233 pressed. As a result, the sleeve 225 and the hand member 95 are against the face of the Holder pressed away from the U-shaped cutout 251.

The ends of the gripping members 202, 203 touch the face of the box 250, so that another Axial movement is stopped.

With a further axial movement of the hand receptacle 174 towards the ring 220, the balls press the sleeve 225 against the springs 226, the recesses 222 and the balls 224 in correspondence come.

As soon as the balls 224 are in annular correspondence with the recesses 222, are they roll into corresponding recesses 222. If doing a slight shift is present, the action of the balls 224 on the recesses 222 causes a rotation of the hand receptacle 174 causes the correct seating of the balls 224. After that, the guide surface 233 of the sleeve Slide over the balls 224 so that the sleeve 225 snaps into the operating position in which the inner surface 219 the balls 224, partly in the openings 223 and partly in the corresponding Recesses 222, holds. The hand member 95 is secured in place and ready for use.

The hand member 95 can thus cooperate in a substantially straight movement of the arm member removed with the bracket and reinserted. The axial correspondence must not be very precise, as the edges of the fitting parts are beveled and thus slide over each other or adjust accordingly. It is no longer necessary to manually remove the sleeve 225 against the spring pressure 226 to move because the axial movement of the arm member in cooperation with the bracket gives the required effect.

The hand member 95 can thus with fully open gripping members, with closed or in any intermediate position can be removed and replaced without affecting this position.

It is particularly important to emphasize that the gripper motor 165 for moving the spindle 183 with the arm member rotates so that the position of the gripping members 202, 203 is not affected by rotation of the Limb of the hand 95 is impaired. The gripping members 202, 203 are thus independent of one rotation of the hand member 95 moved and can of the arm member in any desired gripping position removed.

Claims (5)

Patent claims: 1. Remote control with a hand member releasably mounted on an arm member, which is a Having pair of movable gripping members, which by means of a drive and a gear device are movable between a closed and an open position, wherein in the transmission device a clutch is arranged via which the driving force for the adjustment of the Gripping members is transferred to this and one coupling part together with the drive device is mounted on the arm member, whereas the other coupling part cooperating therewith is mounted on the hand member and together with this when releasing the hand member from the arm member in the axial direction is separable from the first-mentioned coupling part, characterized in that the Coupling as two rotating coupling parts that can be separated from one another in the axial direction (171, 178) existing torque coupling is formed and that on the hand member (95) arranged parts of the transmission device for the gripping members (202, 203) self-locking are designed such that when removing the hand member (95) the gripping members (202, 203) in remain in the respective position. 2. Remote control according to claim 1, characterized in that the in the hand member (95) arranged parts of the transmission device from a screw or spindle (183) and one with it cooperating gear nut (180) exist. 3. Remote control according to claim 2, characterized in that the gear consisting of the spindle (183) and the gear nut (180) acts on the gripping members (202, 203) via parallelogram levers (192, 193, 206, 207), that their gripping surfaces (214) remain parallel to one another over the entire adjustment path. 4. Remote control according to one of claims 1 to 3, characterized in that the torque coupling consists of a remotely controlled electromagnetic coupling (171, 172, 173, 178) . 5. Remote control according to claim 4, characterized by such a design of the coupling 10 lungs remote control that the torque that can be transmitted via the electromagnetic clutch (171,172,173,178) can be set to various values by means of the remote control. Considered publications:
German Patent No. 1138 907;
U.S. Patent No. 2861701. 1 sheet of drawings